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<div class="title">GuContactBuffer.h</div>  </div>
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<a href="GuContactBuffer_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef GU_CONTACTBUFFER_H</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define GU_CONTACTBUFFER_H</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="GuContactPoint_8h.html">geomutils/GuContactPoint.h</a>&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxContact_8h.html">PxContact.h</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="namespacephysx.html">   37</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="namespacephysx_1_1Gu.html">   39</a></span>&#160;<span class="keyword">namespace </span>Gu</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;{</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html">   42</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html">NarrowPhaseParams</a></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    {</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a7e06ecf33181a9a53ea833ee097943be">   44</a></span>&#160;        <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a7e06ecf33181a9a53ea833ee097943be">NarrowPhaseParams</a>(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> contactDistance, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> meshContactMargin, <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> toleranceLength) :</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a2fa12b6a67441059365d7a9da301e326">mContactDistance</a>(contactDistance),</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#acf07b4938183bd0c3fcd39ead1573afb">mMeshContactMargin</a>(meshContactMargin),</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a34aa75d0c1663e9571a50b7f4b18e3f7">mToleranceLength</a>(toleranceLength)   {}</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a2fa12b6a67441059365d7a9da301e326">   49</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>  <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a2fa12b6a67441059365d7a9da301e326">mContactDistance</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#acf07b4938183bd0c3fcd39ead1573afb">   50</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>  <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#acf07b4938183bd0c3fcd39ead1573afb">mMeshContactMargin</a>; <span class="comment">// PT: Margin used to generate mesh contacts. Temp &amp; unclear, should be removed once GJK is default path.</span></div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a34aa75d0c1663e9571a50b7f4b18e3f7">   51</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>  <a class="code" href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a34aa75d0c1663e9571a50b7f4b18e3f7">mToleranceLength</a>;   <span class="comment">// PT: copy of PxTolerancesScale::length</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    };</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array</span></div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="GuContactBuffer_8h.html#a53d5f9a05ea848c517e1c0b4240aa491">   55</a></span>&#160;<span class="preprocessor">#define LOCAL_CONTACTS_SIZE     1088</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html">   57</a></span>&#160;<span class="keyword">class </span><a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html">ContactBuffer</a></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">   61</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">MAX_CONTACTS</a> = 64;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">   63</a></span>&#160;    <a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html">Gu::ContactPoint</a>    <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">contacts</a>[<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">MAX_CONTACTS</a>];</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">   64</a></span>&#160;    <a class="code" href="namespacephysx.html#a9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>               <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#a4f8fabbb2c9690d8fb30f8b6b1459294">   65</a></span>&#160;    <a class="code" href="namespacephysx.html#a9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>               <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#a4f8fabbb2c9690d8fb30f8b6b1459294">pad</a>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#a3e0ba809a9dca51174be563a6ef4a5f4">   67</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">void</span> <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#a3e0ba809a9dca51174be563a6ef4a5f4">reset</a>()</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a> = 0;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    }</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#aae846773e6fe6f34982e129ce759555c">   72</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#aae846773e6fe6f34982e129ce759555c">contact</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; worldPoint, </div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                 <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; worldNormalIn, </div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                 <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxContact_8h.html#a09ca687555b77d7197a860cbfc3d9547">separation</a>, </div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                 <a class="code" href="namespacephysx.html#a9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> faceIndex1 = <a class="code" href="PxContact_8h.html#ad7d63e592ac0d23d42e12e10572039fe">PXC_CONTACT_NO_FACE_INDEX</a></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                 )</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(worldNormalIn.<a class="code" href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">magnitude</a>()-1)&lt;1e-3f);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>&gt;=<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">MAX_CONTACTS</a>)</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html">Gu::ContactPoint</a>&amp; p = <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">contacts</a>[<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>++];</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        p.normal            = worldNormalIn;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        p.point             = worldPoint;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        p.<a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html#a195379a6d1770fc7b4a12216edf1d8c1">separation</a>        = <a class="code" href="PxContact_8h.html#a09ca687555b77d7197a860cbfc3d9547">separation</a>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        p.<a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html#adba222df8f0e9da814c0ba0ab684bcba">internalFaceIndex1</a>= faceIndex1;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    }</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#ac8bb582bcffd45e1244f92e6d16da2fa">   91</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#ac8bb582bcffd45e1244f92e6d16da2fa">contact</a>(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; worldPoint,</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; worldNormalIn,</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxContact_8h.html#a09ca687555b77d7197a860cbfc3d9547">separation</a>,</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> internalUsage,</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="namespacephysx.html#a9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> faceIndex1 = <a class="code" href="PxContact_8h.html#ad7d63e592ac0d23d42e12e10572039fe">PXC_CONTACT_NO_FACE_INDEX</a></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        )</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    {</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>(<a class="code" href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a>(worldNormalIn.<a class="code" href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">magnitude</a>() - 1)&lt;1e-3f);</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a> &gt;= <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">MAX_CONTACTS</a>)</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html">Gu::ContactPoint</a>&amp; p = <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">contacts</a>[<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>++];</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        p.normal = worldNormalIn;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        p.point = worldPoint;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        p.<a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html#a195379a6d1770fc7b4a12216edf1d8c1">separation</a> = <a class="code" href="PxContact_8h.html#a09ca687555b77d7197a860cbfc3d9547">separation</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        p.<a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html#adba222df8f0e9da814c0ba0ab684bcba">internalFaceIndex1</a> = faceIndex1;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        p.<a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html#a0cef0e99ed01d88d3488e5a65d089580">forInternalUse</a> = internalUsage;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    }</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#a667e86be128b016d470267780a06d988">  112</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <span class="keywordtype">bool</span> <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#a667e86be128b016d470267780a06d988">contact</a>(<span class="keyword">const</span> <a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html">Gu::ContactPoint</a> &amp; pt)</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>&gt;=<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">MAX_CONTACTS</a>)</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">contacts</a>[<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>++] = pt;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classphysx_1_1Gu_1_1ContactBuffer.html#a6467f4daf91df1a3b61ea50b90c3f643">  120</a></span>&#160;    <a class="code" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="code" href="structphysx_1_1Gu_1_1ContactPoint.html">Gu::ContactPoint</a>* <a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#a6467f4daf91df1a3b61ea50b90c3f643">contact</a>()</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">if</span>(<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>&gt;=<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">MAX_CONTACTS</a>)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;            <span class="keywordflow">return</span> NULL;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordflow">return</span> &amp;<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">contacts</a>[<a class="code" href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">count</a>++];</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    }</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;};</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;}</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1ContactPoint_html"><div class="ttname"><a href="structphysx_1_1Gu_1_1ContactPoint.html">physx::Gu::ContactPoint</a></div><div class="ttdef"><b>Definition:</b> GuContactPoint.h:44</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1NarrowPhaseParams_html_a34aa75d0c1663e9571a50b7f4b18e3f7"><div class="ttname"><a href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a34aa75d0c1663e9571a50b7f4b18e3f7">physx::Gu::NarrowPhaseParams::mToleranceLength</a></div><div class="ttdeci">PxReal mToleranceLength</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:51</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1NarrowPhaseParams_html"><div class="ttname"><a href="structphysx_1_1Gu_1_1NarrowPhaseParams.html">physx::Gu::NarrowPhaseParams</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:42</div></div>
<div class="ttc" id="group__foundation_html_ga6a774eed3cad34b0f636332a3d28c6bb"><div class="ttname"><a href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a></div><div class="ttdeci">#define PX_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:351</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="PxContact_8h_html_ad7d63e592ac0d23d42e12e10572039fe"><div class="ttname"><a href="PxContact_8h.html#ad7d63e592ac0d23d42e12e10572039fe">PXC_CONTACT_NO_FACE_INDEX</a></div><div class="ttdeci">#define PXC_CONTACT_NO_FACE_INDEX</div><div class="ttdef"><b>Definition:</b> PxContact.h:47</div></div>
<div class="ttc" id="namespacephysx_html_a9b7fbd746d18bf5b6545713a8d818f41"><div class="ttname"><a href="namespacephysx.html#a9b7fbd746d18bf5b6545713a8d818f41">physx::PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:71</div></div>
<div class="ttc" id="PxContact_8h_html"><div class="ttname"><a href="PxContact_8h.html">PxContact.h</a></div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1ContactPoint_html_a195379a6d1770fc7b4a12216edf1d8c1"><div class="ttname"><a href="structphysx_1_1Gu_1_1ContactPoint.html#a195379a6d1770fc7b4a12216edf1d8c1">physx::Gu::ContactPoint::separation</a></div><div class="ttdeci">PxReal separation</div><div class="ttdoc">The separation of the shapes at the contact point. A negative separation denotes a penetration...</div><div class="ttdef"><b>Definition:</b> GuContactPoint.h:55</div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="GuContactPoint_8h_html"><div class="ttname"><a href="GuContactPoint_8h.html">GuContactPoint.h</a></div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1ContactPoint_html_a0cef0e99ed01d88d3488e5a65d089580"><div class="ttname"><a href="structphysx_1_1Gu_1_1ContactPoint.html#a0cef0e99ed01d88d3488e5a65d089580">physx::Gu::ContactPoint::forInternalUse</a></div><div class="ttdeci">PxU16 forInternalUse</div><div class="ttdoc">internal structure used for internal use only </div><div class="ttdef"><b>Definition:</b> GuContactPoint.h:82</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_a4f8fabbb2c9690d8fb30f8b6b1459294"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#a4f8fabbb2c9690d8fb30f8b6b1459294">physx::Gu::ContactBuffer::pad</a></div><div class="ttdeci">PxU32 pad</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:65</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1ContactPoint_html_adba222df8f0e9da814c0ba0ab684bcba"><div class="ttname"><a href="structphysx_1_1Gu_1_1ContactPoint.html#adba222df8f0e9da814c0ba0ab684bcba">physx::Gu::ContactPoint::internalFaceIndex1</a></div><div class="ttdeci">PxU32 internalFaceIndex1</div><div class="ttdoc">The surface index of shape 1 at the contact point. This is used to identify the surface material...</div><div class="ttdef"><b>Definition:</b> GuContactPoint.h:91</div></div>
<div class="ttc" id="PxContact_8h_html_a09ca687555b77d7197a860cbfc3d9547"><div class="ttname"><a href="PxContact_8h.html#a09ca687555b77d7197a860cbfc3d9547">separation</a></div><div class="ttdeci">PxReal separation</div><div class="ttdoc">Separation value (negative implies penetration). </div><div class="ttdef"><b>Definition:</b> PxContact.h:443</div></div>
<div class="ttc" id="classPxVec3_html_a5f7512ff35bdf6f8f5cff4dbdd1bcdd0"><div class="ttname"><a href="classPxVec3.html#a5f7512ff35bdf6f8f5cff4dbdd1bcdd0">PxVec3::magnitude</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float magnitude() const</div><div class="ttdoc">returns the magnitude </div><div class="ttdef"><b>Definition:</b> PxVec3.h:183</div></div>
<div class="ttc" id="group__foundation_html_gaf72e1dce9e874da7b92cbc0ea5e4e30d"><div class="ttname"><a href="group__foundation.html#gaf72e1dce9e874da7b92cbc0ea5e4e30d">PxAbs</a></div><div class="ttdeci">PX_CUDA_CALLABLE PX_FORCE_INLINE float PxAbs(float a)</div><div class="ttdoc">abs returns the absolute value of its argument. </div><div class="ttdef"><b>Definition:</b> PxMath.h:107</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_aae846773e6fe6f34982e129ce759555c"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#aae846773e6fe6f34982e129ce759555c">physx::Gu::ContactBuffer::contact</a></div><div class="ttdeci">PX_FORCE_INLINE bool contact(const PxVec3 &amp;worldPoint, const PxVec3 &amp;worldNormalIn, PxReal separation, PxU32 faceIndex1=PXC_CONTACT_NO_FACE_INDEX)</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:72</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1NarrowPhaseParams_html_a2fa12b6a67441059365d7a9da301e326"><div class="ttname"><a href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a2fa12b6a67441059365d7a9da301e326">physx::Gu::NarrowPhaseParams::mContactDistance</a></div><div class="ttdeci">PxReal mContactDistance</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:49</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_af78e4382079d9ac7bbb5276404887456"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#af78e4382079d9ac7bbb5276404887456">physx::Gu::ContactBuffer::MAX_CONTACTS</a></div><div class="ttdeci">static const PxU32 MAX_CONTACTS</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:61</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1NarrowPhaseParams_html_a7e06ecf33181a9a53ea833ee097943be"><div class="ttname"><a href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#a7e06ecf33181a9a53ea833ee097943be">physx::Gu::NarrowPhaseParams::NarrowPhaseParams</a></div><div class="ttdeci">PX_FORCE_INLINE NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength)</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:44</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_ac8bb582bcffd45e1244f92e6d16da2fa"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#ac8bb582bcffd45e1244f92e6d16da2fa">physx::Gu::ContactBuffer::contact</a></div><div class="ttdeci">PX_FORCE_INLINE bool contact(const PxVec3 &amp;worldPoint, const PxVec3 &amp;worldNormalIn, PxReal separation, PxU16 internalUsage, PxU32 faceIndex1=PXC_CONTACT_NO_FACE_INDEX)</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:91</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_a667e86be128b016d470267780a06d988"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#a667e86be128b016d470267780a06d988">physx::Gu::ContactBuffer::contact</a></div><div class="ttdeci">PX_FORCE_INLINE bool contact(const Gu::ContactPoint &amp;pt)</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:112</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_a6467f4daf91df1a3b61ea50b90c3f643"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#a6467f4daf91df1a3b61ea50b90c3f643">physx::Gu::ContactBuffer::contact</a></div><div class="ttdeci">PX_FORCE_INLINE Gu::ContactPoint * contact()</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:120</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_af354771b2bd532b4966130e26c3ebea9"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#af354771b2bd532b4966130e26c3ebea9">physx::Gu::ContactBuffer::contacts</a></div><div class="ttdeci">Gu::ContactPoint contacts[MAX_CONTACTS]</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:63</div></div>
<div class="ttc" id="structphysx_1_1Gu_1_1NarrowPhaseParams_html_acf07b4938183bd0c3fcd39ead1573afb"><div class="ttname"><a href="structphysx_1_1Gu_1_1NarrowPhaseParams.html#acf07b4938183bd0c3fcd39ead1573afb">physx::Gu::NarrowPhaseParams::mMeshContactMargin</a></div><div class="ttdeci">PxReal mMeshContactMargin</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:50</div></div>
<div class="ttc" id="group__foundation_html_ga4a83a657390b324a460f14684e5accee"><div class="ttname"><a href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a></div><div class="ttdeci">#define PX_ASSERT(exp)</div><div class="ttdef"><b>Definition:</b> PxAssert.h:59</div></div>
<div class="ttc" id="namespacephysx_html_a9caf1cbcda071b6d2a9c069faa99da23"><div class="ttname"><a href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">physx::PxU16</a></div><div class="ttdeci">uint16_t PxU16</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:73</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_a3e0ba809a9dca51174be563a6ef4a5f4"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#a3e0ba809a9dca51174be563a6ef4a5f4">physx::Gu::ContactBuffer::reset</a></div><div class="ttdeci">PX_FORCE_INLINE void reset()</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:67</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html">physx::Gu::ContactBuffer</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:57</div></div>
<div class="ttc" id="classphysx_1_1Gu_1_1ContactBuffer_html_adec5184ef5e02b98a29f527395fcae76"><div class="ttname"><a href="classphysx_1_1Gu_1_1ContactBuffer.html#adec5184ef5e02b98a29f527395fcae76">physx::Gu::ContactBuffer::count</a></div><div class="ttdeci">PxU32 count</div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:64</div></div>
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